公开(公告)号：KR1020100118310A

公开(公告)日：2010-11-05

申请号：KR1020090037072

申请日：2009-04-28

Applicant: 서울대학교산학협력단

Inventor： 조규진 ,  박형민 ,  고제성 ,  최해천

IPC: B25J7/00 ,  B25J11/00 ,  B25J19/00

Abstract: PURPOSE: An inchworm robot is provided to accurately perform a detailed work in a narrow space, since the body of a robot is changed into various shapes at various angles. CONSTITUTION: An inchworm robot comprises a body(10), a SMA(Shape Memory Alloy) wire(30), and a friction pad(20). The body is comprised of a plurality of pieces(10b) and joints(10c). The body is bent at various angles by the joints. The SMA wire is fixed to both pieces of the body by passing through the pieces The SMA wire is shrunken and returned by the current supply. The friction pad is formed on both pieces of the body.

Abstract translation: 目的：提供一种蚯蚓机器人，用于在狭窄的空间精确地进行详细的工作，因为机器人的身体以各种角度变化为各种形状。 构成：蚯蚓机器人包括主体（10），SMA（形状记忆合金）线（30）和摩擦垫（20）。 身体由多个片（10b）和关节（10c）组成。 身体通过关节以各种角度弯曲。 SMA线通过片材固定在两块体上SMA线被电流供应收缩并返回。 摩擦垫形成在主体的两个部分上。